Método de correspondência para sistemas de visão multi-câmara

Os sistemas de perceção visual são das principais fontes de informação sensorial utilizadas pelos robôs autónomos, para localização e navegação em diferentes meios de operação. O objetivo passa por obter uma grande quantidade de informação sobre o ambiente que a câmara está a visualizar, processar e extrair informação que permita realizar as tarefas de uma forma e ciente. Uma informação em particular que os sistemas de visão podem fornecer, e a informação tridimensional acerca do meio envolvente. Esta informação pode ser adquirida recorrendo a sistemas de visão monoculares ou com múltiplas câmaras. Nestes sistemas a informação tridimensional pode ser obtida recorrendo a técnica de triangulação, tirando partido do conhecimento da posição relativa entre as câmaras. No entanto, para calcular as coordenadas de um ponto tridimensional no referencial da câmara e necessário existir correspondência entre pontos comuns às imagens adquiridas pelo sistema. No caso de más correspondências a informação 3D e obtida de forma incorreta. O problema associado à correspondência de pontos pode ser agravado no caso das câmaras do sistema terem características intrínsecas diferentes nomeadamente: resolução, abertura da lente, distorção. Outros fatores como as orientações e posições das câmaras também podem condicionar a correspondência de pontos. Este trabalho incide sobre problemática de correspondência de pontos existente no processo de cálculo da informação tridimensional. A presente dissertação visa o desenvolvimento de uma abordagem de correspondência de pontos para sistemas de visão no qual é conhecida a posição relativa entre câmaras.

Medicago truncatula as a platform for Molecular Farming: a study of the subcellular localization of a human recombinant protein!

Dissertation presented at Faculdade de Ciências e Tecnologia of Universidade Nova de Lisboa to obtain the Degree of Master in Biotecnology

The role of electron transfer in DNA building blocks: evaluation of strand breaks and their implications

Dissertação para obtenção do Grau de Doutor em Engenharia Física

Technological adoption in health care

This paper addresses the impact of payment systems on the rate of technology adoption. We present a model where technological shift is driven by demand uncertainty, increased patients’ benefit, financial variables, and the reimbursement system to providers. Two payment systems are studied: cost reimbursement and (two variants of) DRG. According to the system considered, adoption occurs either when patients’ benefits are large enough or when the differential reimbursement across technologies offsets the cost of adoption. Cost reimbursement leads to higher adoption of the new technology if the rate of reimbursement is high relative to the margin of new vs. old technology reimbursement under DRG. Having larger patient benefits favors more adoption under the cost reimbursement payment system, provided that adoption occurs initially under both payment systems.

Precast concrete wall-foundation connection. Development of a seismic dissipative connection

Seismic events are a major factor to consider in structural design of buildings in many countries. With the purpose of saving lives, most of the design codes lead to structural solutions that withstand large seismic actions without collapsing, but without taking into account a possible usage of the structures after the earthquake. As a result, it is necessary to consider the time needed to repair/retrofit the damaged structures (i.e. the downtime) since this period of inactivity may result in huge financial implications for the occupants of the buildings. In order to minimise the damages and simplify repair operations, structural solutions with rocking systems and negligible residual displacements have been developed during the last two decades. Systems with precast concrete rocking walls were studied with the aim of investigat- ing suitable and convenient structural alternatives to minimise the damage in case of an earthquake. Experimental, numerical and analytical analyses on post-tensioned solutions, with and without energy dissipation devices, were carried out in this research. The energy dissipation devices were made from steel angles that were further developed during the research. Different solutions for these devices were experimentally tested under cyclic loading and the results are presented. Numerical and analytical work on steel angles was also carried out. Regarding the concrete rocking wall systems, two concrete rocking wall systems were studied: post-tensioned walls and post-tensioned walls with energy dissipation devices. In the latter, the solution was to fix them externally to the wall, allowing their easy replacement after an earthquake. It is shown that the dissipaters are a viable solution for use in precast concrete rocking wall systems. A building case study is presented. The comparison between a traditional monolithic system and a hybrid solution was carried out, allowing the evaluation of the efficiency of the solution that was developed.

Aquaponics and its potential aquaculture wastewater treatment and human urine treatment

The main objective of this thesis is to study the developing fields of aquaponics and its potential for aquaculture wastewater treatment and human urine treatment. Aquaponics is a food production system which combines fish farming (aquaculture) with soilless crop farming (hydroponics). In this thesis the concept of aquaponics and the underlying processes are explained. Research on aquaculture wastewater and human urine wastewater is reviewed and its potential application with aquaponic systems is studied. An overview of the different types of aquaponic systems and current research on the field is also presented. A case study was conducted in a farm in Askeröd, Sweden, which involved building two aquaponic systems (System 1 and System 2) and a human urine-based aquaponic system (System 3), with different degrees of component complexity and sizes. The design, building and monitoring of System 1, System 2 and System 3 was documented and described in detail. Four day experiments were conducted which tested the evolution in concentration of Total Ammonia Nitrogen (NH4+/NH3), Nitrite (NO2-), Nitrate (NO3-), Phosphate (PO43-), and Dissolved Oxygen (O2) after an initial nutrient input. The goal was to assess the concentrations of these parameters after four days and compare them with relevant literature examples in the aquaculture industry and in source-separated urine research. Neither of the two aquaponic systems (System 1 and System 2) displayed all of the parameter concentrations in the last day of testing below reference values found in literature. The best performing of the aquaponic systems was the more complex system (System 2) combining the hydroponic Nutrient Film Technique with a Deep Water Culture component, with a Total Ammonia Nitrogen concentration of 0,20 mg/L, a Nitrite concentration of 0,05 mg/L, a Nitrate concentration of 1,00-5,00 mg/L, a Phosphate concentration of <0,02 mg/L and a Dissolved Oxygen concentration of 8,00 mg/L. The human urine-based aquaponic system (System 3) underperformed in achieving the reference concentration values in literature for most parameters. The removal percentage between the higher recorded values after the input addition and the final day of testing was calculated for two literature examples of separated urine treatment and System 3. The system had a removal percentage of 75% for Total Ammonia Nitrogen, 98% for Nitrite, 25% for Nitrate and 50% for Phosphate. These percentages still underperformed literature examples in most of the tested parameters. The results gathered allowed to conclude that while aquaculture wastewater treatment and human urine treatment is possible with aquaponics systems, overall these did not perform as well as some examples found in recirculating aquaculture systems and source-separated urine treatment literature. However, better measuring techniques, longer testing periods and more research is recommended in this field in order to draw an improved representative conclusion.

Travestis brasileiras em Portugal : percursos, identidades e ambiguidades

Os séculos XX e XXI corresponderam ao agudizar de processos globalizantes potenciados pelas novas tecnologias, quer no âmbito comunicacional, quer industrial, sublinhando dinâmicas de desruralização e de construção de tecidos urbanos densos onde o anonimato se tornou possível na vivência de experiências, outrora reconduzidas ao silêncio do sujeito socialmente isolado. A diferença, enquanto experiência vivida, tornou-se comunitariamente possível, surgindo grupos que delimitam geograficamente determinadas áreas urbanas a que correspondem afinidades eróticas ou de práticas sexuais, inicialmente de gays e lésbicas. Quebra-se na prática a uni-direccionalidade entre sexo e género, entre sexo e sexualidade, questionando-se esquemas de relações assimétricas e modelos de pensamento enraizados (heterossexualidade, patriarcado, machismo, etc.). Rubin (1975 in Lewin 2006, in Vance, 1984) propõe a existência de dois sistemas diferenciados de sexo e género que tornam plausível, sob o ponto de vista analítico, a não correspondência entre sexo, género e sexualidade. O paradigma máximo desta autonomia sistémica alcança-se na construção de uma identidade travesti. Esta identidade mutante, mutável e instável parece acompanhar um mundo de fluxos intensos e interdependências múltiplas. É na sociedade global que as travestis encontram espaço para a vivência comunitária da sua experiência, constituindo-se como um grupo com práticas transnacionais, marcado pela mobilidade de género e geográfica, primeiramente dentro das fronteiras brasileiras e depois para a Europa. Cidade, prostituição e migração surgem como factores chave da disseminação geográfica e identitária desta comunidade. Este projecto tomado sob uma perspectiva global mantêm ou reinventa relações com a estrutura, que aparentemente as apaga enquanto actores sociais e da qual, aparentemente, se auto-excluem.

Using a domain-specific language to enrich ETL schemas

Today it is easy to find a lot of tools to define data migration schemas among different types of information systems. Data migration processes use to be implemented on a very diverse range of applications, ranging from conventional operational systems to data warehousing platforms. The implementation of a data migration process often involves a serious planning, considering the development of conceptual migration schemas at early stages. Such schemas help architects and engineers to plan and discuss the most adequate way to migrate data between two different systems. In this paper we present and discuss a way for enriching data migration conceptual schemas in BPMN using a domain-specific language, demonstrating how to convert such enriched schemas to a first correspondent physical representation (a skeleton) in a conventional ETL implementation tool like Kettle.

Aplicação de técnicas e procedimentos Lean Production numa empresa da indústria automóvel

Dissertação de mestrado integrado em Engenharia e Gestão Industrial

Structural analysis of the timber structure of Ica Cathedral, Peru

Dissertação de mestrado em Structural Analysis of Monuments and Historical Constructions

Comparação dosimétrica de dois sistemas de planeamento de tratamento em radioterapia conformacional 3D

Dissertação de mestrado em Biofísica e Bionanossistemas

Development of multifunctional coatings deposited on polymers based sensors for biomedical applications

Tese de Doutoramento (Programa Doutoral em Engenharia de Materiais)

Weighted Hardy spaces for the unit disc: approximation properties

In this paper we study basic properties of the weighted Hardy space for the unit disc with the weight function satisfying Muckenhoupt's (Aq) condition, and study related approximation problems (expansion, moment and interpolation) with respect to two incomplete systems of holomorphic functions in this space.

Is there a common factor for vision?

In cognition, common factors play a crucial role. For example, different types of intelligence are highly correlated, pointing to a common factor, which is often called g. One might expect that a similar common factor would also exist for vision. Surprisingly, no one in the field has addressed this issue. Here, we provide the first evidence that there is no common factor for vision. We tested 40 healthy students' performance in six basic visual paradigms: visual acuity, vernier discrimination, two visual backward masking paradigms, Gabor detection, and bisection discrimination. One might expect that performance levels on these tasks would be highly correlated because some individuals generally have better vision than others due to superior optics, better retinal or cortical processing, or enriched visual experience. However, only four out of 15 correlations were significant, two of which were nontrivial. These results cannot be explained by high intraobserver variability or ceiling effects because test-retest reliability was high and the variance in our student population is commensurate with that from other studies with well-sighted populations. Using a variety of tests (e.g., principal components analysis, Bayes theorem, test-retest reliability), we show the robustness of our null results. We suggest that neuroplasticity operates during everyday experience to generate marked individual differences. Our results apply only to the normally sighted population (i.e., restricted range sampling). For the entire population, including those with degenerate vision, we expect different results.

Technological adoption in health care

This paper addresses the impact of payment systems on the rate of technology adoption. We present a model where technological shift is driven by demand uncertainty, increased patients' benefit, financial variables, and the reimbursement system to providers. Two payment systems are studied: cost reimbursement and (two variants of) DRG. According to the system considered, adoption occurs either when patients' benefits are large enough or when the differential reimbursement across technologies offsets the cost of adoption. Cost reimbursement leads to higher adoption of the new technology if the rate of reimbursement is high relative to the margin of new vs. old technology reimbursement under DRG. Having larger patient benefits favors more adoption under the cost reimbursement payment system, provided that adoption occurs initially under both payment systems.